CN102318563B - Radial-shape wireless dog fence system and method - Google Patents
Radial-shape wireless dog fence system and method Download PDFInfo
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- CN102318563B CN102318563B CN201110121456.XA CN201110121456A CN102318563B CN 102318563 B CN102318563 B CN 102318563B CN 201110121456 A CN201110121456 A CN 201110121456A CN 102318563 B CN102318563 B CN 102318563B
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- base station
- distance value
- necklace
- station unit
- dog
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
- A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
- A01K15/021—Electronic training devices specially adapted for dogs or cats
- A01K15/023—Anti-evasion devices
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K27/00—Leads or collars, e.g. for dogs
- A01K27/009—Leads or collars, e.g. for dogs with electric-shock, sound, magnetic- or radio-waves emitting devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
Abstract
A radial-shaped wireless fence system is provided that contains one or more dogs in a user-defined area without the need for a physical fence or underground wire. The system includes a base station unit and at least one collar, and is easy to set up and use. Through improved filtering of consecutive distance measurement values taken between the base station unit and the collar, errant measurement values are discounted in terms of their contribution to the current estimate of the dog's distance from the base unit. These filtering techniques, in combination with improved signal strength and antenna diversity in the communication between the base station unit and the collar, improve the accuracy and consistency with which the dog's distance from the base unit is tracked so that unwanted corrections are not administered to the dog.
Description
It is on March 23rd, 2010 with the applying date that the application has the right to require, application number be NO.61/282727 the U.S. altogether certainly provisional application be its priority.
Technical field
The present invention relates to animal stable breeding field, particularly relate to a kind of wireless foster dog fence defined around user designated area, and adopt the system and method for this fence stable breeding one or many dogs in user designated area.
Background technology
In regulation region, stable breeding one or many dogs are realized by a lot of method, and the most traditional method is, build enough high, escape from fence fence to prevent dog from crossing fence.Because a lot of people thinks that overhead fence is unsightly undesirable in other words, " stealth " fence product is developed, and it depends on imbeds underground by electric wire and defines the expectation fence border of dog.When dog close to border to a certain degree time, transmission signal is activated the specially designed necklace that dog is worn with it by electric wire.Once necklace is activated, just can sounds to dog and warn and/or electric shock, thus guarantee that dog can not leave the region in fence.Electrical wiring system very labor intensive is imbedded in installation.In addition, by mistake may being cut off due to electric wire or other damages, such as the excavation or cultivate when safeguarding lawn etc., being imbedded electric wire barrier system often also very labor intensive like this when wanting to find out position that electric wire damages or getting rid of other problems.
Recently, wireless fence product is developed, and it launches a low frequency signal to be full of a spherical volume, and this spherical volume is converted into the circular region on ground level.The radius of border circular areas can be set by the user, according to this series products of one that PetSaft produces, and radial extension in about 5 feet to about 90 feet usually.When the dog of wearing specially designed necklace is positioned within signal coverage areas, necklace Received signal strength and do not take action.But when dog roams to beyond signal area, necklace will send a correction signal.
The another kind of wireless system of being introduced to the market by Perimeter Technologies company is not adopt to create signal coverage areas, but adopts a kind of technology measuring the spacing of necklace and base station unit to decide the scope of dog distance base station unit.But, the interference of some object creation usually found in domestic environment can cause necklace and base station to lose each other communicating, thus cause decaying or reflecting and the artificial high value range of formation, and/or in time not have issued correction to dog, such as, correction is sent when animal is also in predetermined stable breeding radius.
Based on this, there is such demand, namely, improve wireless barrier system and make it be convenient to user's setting and use, and overcome the problem in prior art existing for system.
Summary of the invention
As previously mentioned, an object of the present invention is to solve such problem, that is, dog is housed in wireless fence border, and undesirable correction order can not be sent to animal.
Another object of the present invention is to provide a kind of wireless barrier system with double antenna base station unit and double antenna necklace, thus improves the ratio of Signal transmissions relative to miss signals of successfully reception.
Another object of the present invention is to provide a kind of wireless barrier system according to aforementioned object, wherein, repeatedly obtain the distance value between base station unit and necklace, through weighted mean and filtering to weed out the distance value of those possible errors, thus more accurately follow the trail of dog distance base station unit scope.
Further object of the present invention is to provide a kind of wireless barrier system according to aforementioned object, wherein NANOLOC
tMchipset coordinates with power amplifier circuit and provides stronger signal strength signal intensity, thus improves the reliability of following the trail of dog in fence bounds.
Further object of the present invention is to provide a kind of wireless barrier system according to aforementioned object, wherein the tracing process of system comprises a conventional batteries save mode and an aero mode, during aero mode, in response to dog close to fence border,, distance value sampling rate promotes.
A further object of the invention is to provide a kind of wireless pet stable breeding product, and user operation is friendly reliable, and follows the trail of the distance between base station unit and dog efficiently, thus reduces the number of times in good time do not corrected sent to dog.
Based on above-mentioned or other object, the present invention proposes a kind of radial ringed (radial-shape) wireless barrier system, it for one or many dogs being housed in the predetermined region of user, and does not need to arrange the fence of entity or buried electric wire.Used hereinly radial ringedly to refer to by the circular region defined around the border of putting centered by the position of base station unit.Border refers to an approximate region, and when dog is arranged in this region, necklace sends correction by starting to dog.This boundary marker and is triggered area initial, and from this border to after all directions extend outwardly certain distance, necklace just no longer can receive the input of base station unit.This distance is alternatively that the change of size triggering area will depend on landform and object between base station unit and dog, but maximumly on the rural level land of spaciousness can reach apart from base station unit about one and half.Fence radius is set by the user, the distance namely between base station unit and border, thus defines a roaming area.When dog remains in roaming area, signal transmits between base station unit and necklace, effectively sends and receives, thus monitors the scope of dog distance base station unit in real time, does not need to send correction to dog.In the case, necklace can be configured to enter dormancy to save powered battery.In addition, system can be configured to elimination mistake signal and/or as do not taken measures when communication disconnects suddenly, time such as due to base station or necklace power down, or when physical signalling blocking element enters in system environments.
Fence used herein be one with one heart around the imaginary line on border triggering area.When not having interference and signal attenuation, fence will be circular, represents the circumference of the circle limited by certain radius.But, due to real world situations, various objects wherein in circle zone produce interference to signal, or the multipath effect that other local objects cause, some portion boundary or " fence " distance base station unit will be there is relative to other parts more recently in the random zone of circular, that is, the distance of some portion boundary/fence and base station unit is less than fence radius.
System comprises the necklace that base station unit is worn with at least one dog, wherein also supports multiple necklaces of additional dog, and these necklaces are easy to setting and use.Base station unit and necklace have two antennas all respectively, provide diversity thus improve the Signal transmissions that successfully the receives ratio relative to miss signals.
It is inner that base station unit is arranged on user house, or other indoor locations of wishing.Use the input element on base station unit by the installation menu of following on display screen, user inputs the fence radius of expectation.Afterwards, outwards advancing from base station unit by carrying necklace, noticing when necklace output signal shows, close to when triggering area, plug a little flag or arrange other marks, the fence radius that user rs authentication is wanted in this position.Then user turns back in random zone, transverse shifting, and then outwards mobile until necklace is pointed out again close to triggering area, and user arranges another flag or mark herein.Continue this process, until with the complete border of flag or marked.Adopt these flags as the visual cue of " fence " position, and use dog necklace with it, then user can training dog fence border where, so just dog can be housed in fence effectively.
Once fence has set, dog has been trained, and system just operates by constantly obtaining the distance value between necklace and base station unit, thus follows the trail of the distance of dog and base station in real time.These distance values through weighted mean, filtering, to reject the distance value that those may be mistake due to the measured value before being different from and the location estimation of dog that calculates before.More particularly, the distance measure of the multiple continuous acquisition between base station unit and necklace is by after weighted sum filtering, and obvious abnormal value can be rejected in the position according to the dog of calculating before.These filtering techniques improve the accuracy of following the trail of dog distance base station unit scope together with the antenna diversity of the signal strength signal intensity improved and base station unit and necklace communication, thus can not send undesirable correction to dog.
Below will be described in detail detailed configuration and operation in the specification and in the claims, by reference to the accompanying drawings, it is also a part for specification, and these objects will be obvious with other object and advantage.In accompanying drawing, same Reference numeral refers to identical parts.
Accompanying drawing explanation
Fig. 1 illustrates the parts according to the wireless barrier system of radial shape of the present invention;
The base station unit that Fig. 2 shows in Fig. 1 is installed in house, and defines roaming area and trigger area;
Fig. 3 shows the fence border of default in Fig. 2 and the triggering area of outside;
Fig. 4 is a flow chart, the step taked during showing the fence set model of the system shown in Fig. 1;
Fig. 5 A is the apart view of the necklace of the assembling shown in Fig. 1;
Fig. 5 B be shown in Fig. 5 A in the decomposition view of parts of necklace;
Fig. 5 C is the picture of the Article 1 tape member of the necklace band shown in Fig. 5 A and 5B, and will be inserted into the antenna in the hole of tape member inner tail end;
Fig. 5 D be the antenna shown in Fig. 5 C be inserted into band hole in after parts picture;
Fig. 5 E is the picture of printed circuit board (PCB) shown in Fig. 5 B, and be arranged in housing bottom, necklace band is connected on housing;
Fig. 5 F is the picture of the item coil component shown in Fig. 5 B, not shown battery, upper body aligned with lower housing;
Fig. 5 G is the picture of the item coil component shown in Fig. 5 F, and upper body engages with lower case corrects unit compartment to seal;
Fig. 5 H is the picture of the item coil component shown in Fig. 5 F and 5G, and it corrects unit compartment location to seal at ultrasonic welding machine;
Fig. 6 is a flow chart, the step taked during showing the necklace set model of system shown in Fig. 1;
Fig. 7 is a flow chart, the step taked during showing the ranging process of system shown in Fig. 1;
Fig. 8 is a flow chart, the step taked during showing the system monitoring pattern of system shown in Fig. 1;
Fig. 9 is a flow chart, the step taked during showing the tracing process of system shown in Fig. 1;
Figure 10 is a flow chart, the step taked during showing the correction procedure of system shown in Fig. 1.
Embodiment
In order to the preferred embodiments of the present invention shown in accompanying drawing are described, need by means of some specific terms to guarantee to clearly demonstrate.But be not that the present invention is limited in the scope of selected term by intention, should be understood, each particular term comprises the technical equivalents of the technical purpose that can reach similar in a similar fashion.
As shown in Figure 1, the present invention adopts Reference numeral 10 entirety to refer to radial ringed wireless barrier system, and it comprises base station controller unit 12 and RCU, usually necklace 14 specifically.In order to the object of training dog, and in order to provide the visual marker usually corresponding to fence border to user and dog, preferably system also comprises one group of flag 16.The quantity of flag can be roamed the radius of 32 along with the stable breeding that will define or random zone and change, but preferably, has about 25 ~ about 100 flags.
As shown in Figure 2, it is inner that base station unit 12 estimates to be positioned at the room area that the house 18 of user, garage are inner or other environment is controlled, is preferably configured to be arranged on wall.Although employing battery is base station unit powers is possible, preferably, base station unit can be inserted into the 120VAC power port of good earth.Base station unit has two antennas 20,21 with diversity when realization and necklace 14 communication, there is display screen 24 (being preferably LCD display) and input element or button, a Reference numeral 26 is specified, for inputting information to arrange and control system for it is overall.According to a preferred embodiment, input element comprises upper and lower arrow key 28,29 and enter key 30.
The communication of base station unit and necklace adopts integrated circuit (IC) chip being arranged on base station unit inside.According to a preferred embodiment, chipset is the NANOLOC that Berlin, Germany Nanotron Technologies sells
tMthe transceiver chip set of TRX 2.4GHz.NANOLOC
tMthe transceiver core group of TRX 2.4GHz is that IEEE 802.15.4a warbles (chirp) spread-spectrum radio module, and has indoor and outdoor distance measurement function.Also other can be adopted to use IEEE 802.15.4a (chirping) technology of warbling to be used for the chipset of radio frequency range finding.
Base station unit 12 is configured to make user set the self-defining fence radius of about 40 ~ about 400 feet of models.Just as previously noted like that, the distance of radius determines " fence " 31, fence encloses inner roaming area 32, and determines the border of triggering area 34 and starting.As shown in Figure 3, although trigger area to look like an annular section or annular 33, annular 33 in fact representative is following true, be compared to the fence radius of user's setting, often there is some deviations or buffering in the exact position on border 31, its reason is interference and the decay of the signal caused by real world situations as previously described above.Therefore, correcting the actual location point sent can in the inside of annular region 33 or on its inner edge or outside.
As summarized in Fig. 4, during fence arranges pattern, base station unit is positioned over the center of the annular section of the expectation that will set, i.e. step 40.In step 40, follow the setting menu of display screen display, and use input element or button 26 to select the parameter expected, the fence radius that user expects to base station unit input.Once radius value has inputted, boundary gone to by user's Portable belt necklace, reacts and indicates the location point close to triggering area 34, and arrange training flag at this location point thus define fence 31 by recording necklace, verify the radius setting expectation, i.e. step 42.As the description of step 44, the remainder of border or fence 31 by ID out.Input fence radius about user and verify that the step of the position of fence 31 has in the file as appendix A " Radial-Shape Wireless Dog Fence Instruction Manual " appended by the application and elaborate, it is considered to an instant disclosed part, elaborates its full content as at this.
As shown in Figure 5 A and 5B, necklace 14 comprises a band, and the overall Reference numeral 50 that adopts represents, it is suitable for being centered around on the neck of dog, also comprises the correction unit 52 be arranged on band 50.Band 50 comprises the Part I 49 wherein with hole, it is connected to the side of correcting unit 52, also comprises Part II 51, and it is connected to the opposite side correcting unit 52, Part II 51 also has jump ring component 53, and jump ring component 53 can engage with in being fixed on dog neck by necklace 14 with hole.
Correct unit 52 and comprise a compartment 29, it has bottom shell 66 and the upper body 54 with shell 55, and such as, CR123A battery 56 can cover 55 by this and be inserted in compartment 29 in order to power to unit 52.Correct unit and also preferably comprise indicator lamp 58, be preferably the LED 59 be bonded to marine glue in upper body 54, LED can be seen from the outside of correcting unit, and similar with base station unit, necklace also has two antennas 60,61 to provide diversity when communicating with base station unit.
As seen in figs. 5c and 5d, preferably, before necklace is finally assembled, antenna 61 is inserted into by opening 46 in the closed channel 47 in necklace strip portion 49, and adopts silicone or similar material to fix at the antenna insert port place of band.In the respective aperture that antenna 60 also adopts similar mode to insert strip portion 51 or passage.
As shown in Fig. 5 B and 5E-5G, what the interior encapsulation of compartment 29 of unit 52 corrected by necklace is printed circuit board (PCB) (PCB) assembly 65.The NANOLOC similar with the chipset in matrix controller
tMtransceiver chip set and the PCB assembly 65 of TRX 2.4GHz are integrated, are positioned at the below (see Fig. 5 E) of RF baffle 39.The NANOLOC of necklace and base station unit
tMchipset sends each other and reception wireless radio transmission as two-way radio.NANOLOC
tMwhen chipset preferably operates, there is power amplifier circuit and be enhanced, the signal that intensity is larger is provided.When radio signal is sent by another in the sky alignment of two parts in necklace or base station unit, these signals are propagated in all directions or in spherical mode.By these signals, strengthen version NANOLOC
tMchipset is constantly caught execution by antenna associated with it, filtering the ranging process of refine data, with obtain preset time base station unit and necklace between distance, also will further illustrate below.
Laterally stretch out two probes 64 in the lower case 66 of compartment 29 towards the direction of dog neck, insulated by electrode grommet 63 and housing 66.Short probe 67 can be replaced and be arranged in lower case 66, to be more suitable for the shorter dog of hair.Based on the setting of necklace, when dog arrives at triggering area, probe 64,67 provides the physics correction signal for dog.As an alternative, necklace can be set to only provide sound correction signal for dog.Physics correction signal preferably can regulate in multiple rank, thus the build of adaptation dog, age and disposition.In a preferred embodiment, necklace produces the correction signal only having sound acquiescently.
During assembling necklace, the end of the antenna 60,61 extended out from closed channel 47 is couple to the terminals PCB assembly, a preferably snap-on or press-fit.As shown in fig. 5e, PCB assembly is contained in lower case 66, and tape member 49,51 is connected respectively to the both sides of lower case.As illustrated in figure 5f, upper body 54 aligned with lower housing, makes upper body closely engage with lower case as depicted in fig. 5g afterwards.The final closed compartment 29 once both upper and lower housing section are bonded with each other, so corrects unit 52 and is just sealed, preferably adopt the ultrasonic welding machine 81 shown in Fig. 5 H.To assemble as Fig. 5 A and after welding, necklace and correct unit 52 can waterproof effectively, to make about 1 minutes section that can drown, and after this with more than 75% necklace performance can acceptance requirements work.
With use base station unit 12 barrier system of the present invention together with use necklace 14 general introduction is set in figure 6.In step 70, user can use base station unit to increase, delete or change the setting of necklace.In step 72., in order to increase another necklace of another dog, user presses one in the load button 26 on base station unit, and base station unit is placed in seek mode.After necklace switches on power, be programmed for and hear and enable the signal that device sends, such as base station unit in response to what be applicable to.After base station unit receives the response signal of necklace, identify unique media access control (MAC) address that is associated with this necklace and store it and identify.In step 74, the necklace of necklace is corrected rank and open/close state base station unit also can be used to change.In addition, in a step 76, base station unit also can be used to delete necklace.About the explanation arranging, activate or delete the more details of the step of one or more necklace, have detailed description in appendix, namely aforementioned specification quotes subsidiary file.
Necklace is set and after activating, NANOLOC
tMchipset just brings into operation its distance measurement function, all can determine the distance between base station unit and necklace in any preset time.Ranging process is just like NANOLOC
tMabout NANOLOC on website
tMthe introduction of chipset is the same, sums up in the figure 7.Unless necklace is in sleep state, otherwise ranging process just carries out continuously.When necklace is not roamed, be just in sleep state, and when motion sensor integrated in necklace, such as accelerometer, when motion being detected, necklace is just revived.
Briefly, the first antenna of base station unit determine it self and necklace on the first antenna between the first distance value, afterwards, determine it self and necklace on the second antenna between second distance value.Second antenna of base station unit then determine it self and necklace on the first antenna between the 3rd distance value, determine again afterwards it self and necklace on the second antenna between the 4th distance value.If these four distance values are all successfully determined, the distance value that the current location for obtaining dog is estimated is one minimum in four measured values.Ranging process application number disclosed in 11 days February in 2010 be No.12/539404, publication number is be described in detail in the altogether certainly application (hereinafter referred to as 339 applications) of US2010/0033339.Quoting 339 here applies for reference to also by considering a directly disclosed part, as illustrated its full content here.
Be compared to the system of single antenna, base station unit and necklace all have the ratio of Signal transmissions relative to miss signals of the successful reception of two antenna maximizes.For exist in house environment building, shrub, automobile or other objects interference and/or disabling signal transmission when, the ratio of lifting is particularly advantageous.Signal is blocked and can causes sending untimely correction to dog, and that is, if communication is enough blocked, dog is still in regulation region and is also repaired, or escapes border.
Dual-antenna system also provides blind area to detect and adapts to.Blind area refers to the region that signal may be lost or lose.Due to system, Signal transmissions is regarded as dog to be in outside border, therefore, if such region does not detect, be considered in other words, such careless mistake will cause sending untimely correction signal to dog.In 339 applications, also detailed description is had about blind area.
Such just like Fig. 8 general introduction, is in monitoring pattern after barrier system 10 is provided with, now base station unit 12 show about the battery allowance state of necklace 14, base station unit and necklace current distance value and the information of crossing the border whether detected, i.e. step 80.Base station unit 12 can be configured to sound when crossing the border and occurring warning during arranging.In step 82, when the distance value between necklace and base station unit is greater than or equal to the fence bound radius of setting, just thinks there occurs and cross the border.When crossing the border, system enters correction pattern, as continuation described below.
In order to reduce possibility dog being sent to untimely correction signal, as summarized in Fig. 9, system according to the present invention comprises a tracing process.When performing tracing process, store effective distance value in the flash memory of base station unit, i.e. step 90.But, constantly transmission between base station and necklace Received signal strength thus calculate the distance value of renewal constantly, with real-time tracing dog.In this time-continuing process, there is deviation slightly relative to the physical location of dog in the specific range value that some preset time measures, and thus when dog is in fact still in roaming area, display dog is positioned at and triggers area.The value of these mistakes, if understood by its presentation, will cause sending untimely correction signal to dog.Therefore, there is delayed Kalman (Kalman) filtering technique by continuous distance value smoothing in what tracing process employing improved, thus the improper value caused because of tolerance and decay can be left in the basket, i.e. step 92.Like this, can obtain following the trail of distance value more accurately, i.e. step 100, after also will be further explained in detail.
Tracing process comprises, and the battery 56 of necklace 14 comprises conventional batteries save mode and aero mode.When enable power saving module, depend on the difference between distance value and fence radius, i.e. step 93.If the difference between distance value and fence radius is greater than threshold value, tracing module remains on conventional batteries save mode, detects the present scope of once distance necklace in this mode, i.e. step 95 every 500ms.But when the difference between distance value and fence radius is less than this threshold value, show that dog is near fence or border, system enters quick distance measurement pattern, and now every 100ms detects a underrange, i.e. step 97.Use different sampling rates, to be sampled by low frequency while allowing to ensure the position of dog and the significantly amount of saving energy, do not affect by when dog close to fence 31 or trigger area 34 time accelerate the accurate tracking of sampling acquisition.
As previously mentioned, tracing process also constantly compares the distance value and fence radius that are associated with necklace, and i.e. step 94, when distance value is less than fence radius, can not take any measure, i.e. step 96.But if distance value is greater than fence radius, the program of correction will start, i.e. step 98.
As summarized in Figure 10, when base station unit sends correction order to necklace, correction program starts to perform, i.e. step 110.Once receive this order, necklace will activate and sends correction, i.e. step 112 in the mode that sound and/or physics are corrected.Correct and will last till the time-out time section arriving setting, i.e. step 114, or last till that dog travels back to the position of in random zone about 10 feet, i.e. step 116.If the time-out time section in step 114 arrives, correct and stop, be i.e. step 118.If the time-out time section in step 114 does not arrive and dog has travelled back in random zone, i.e. step 118, correct and stop equally.But also do not return if time-out time section does not arrive dog, step 116, correction will continue, i.e. step 112 always.The length of time-out time section can change, but according to a preferred embodiment, time-out time section is about 30 seconds.According to design and the setting of system, dog must travel back in random zone and stop the length of correcting also can be greater than or less than 10 feet.
In order to avoid the untimely correction to dog, by continuous distance value smoothingization, various types of filtering algorithm can be adopted to carry out filtering to value of adjusting the distance.According in a preferred embodiment, system of the present invention adopts Kalman (Kalman) filtering technique improved, and as described in Appendix B, invests this and thinks an instant disclosed part, elaborating its full content as at this.Appendix B is that the paper being entitled as " An Introduction to the Kalman Filter " that the Greg Welch in mountain, University of North Carolina church (University of North Carolina at Chapel Hill) branch school and Gray Bishop write is taken passages.
In order to further by the smoothing of continuous print distance value, and detect and ignore abnormal value, according to the present invention adopt Kalman (Kalman) filtering algorithm according to measure sampling obvious reliability or confidence level, distribute a weight to the distance value of each mensuration.The confidence level measuring sampling depends on the contrast between current mensuration distance value and the range estimation determined according to Kalman (Kalman) filtering algorithm before.If current mensuration distance value and the difference before between range estimation are greater than predetermined threshold value, then current mensuration distance value is taken as is suspicious, namely has limited confidence level, the weight less to this distribution.To be described its citing below.Before between dog and base station unit, range estimation is 10 feet, and the current mensuration distance value display dog of measuring after a while is from base station unit 30 feet.Dog can not during this period of time roam so far away, and therefore, current mensuration distance value will obviously be wrong.Current mensuration distance value represents reality and to do exercises change, namely the change in location being less than threshold value is demonstrated, roaming roaming, when using current mensuration distance value to calculate the renewal estimated value of the spacing of dog and base station unit, distributes a larger weight to current mensuration distance value.More detailed being described in Appendix B and 339 applications according to the weighting procedure of Kalman of the present invention (Kalman) filtering algorithm use has detailed description.
The confidence level measuring sampling also can use the output of the accelerometer on current mensuration distance value and the comparison of estimated value before and coil to assess.If the difference of current mensuration distance value and before range estimation is comparatively large, and accelerometer also show a larger acceleration, and so distribute a larger weight to this value, that is this sampling is considered to more credible.On the other hand, if existed compared with while big difference, along with less acceleration or zero acceleration, so this value is considered to represent a bad value range, and is assigned with a less weight or is left in the basket.
Otherwise it is to be noted that the relation of aforementioned identification is then not necessarily set up.Such as, owing to may there is tangential motion when high acceleration, when with less acceleration report, a less range difference can't be considered to more reliable or more unreliable.But, when assess the direction of motion be near or directions of rays away from base station unit time, the input comprising acceleration is favourable.
In adverse conditions, signal strength signal intensity mutual between necklace and base station unit can be strengthened realizing the robustness strengthened by the present invention.Strength enhancing or signal amplify and allow the ranging process between base station unit and necklace and tracing process more accurately to carry out, relative to exist around house building, shrub, the object such as automobile and may the transmission of interfering signal and reception operate time use the NANOLOC of conventional configuration
tMchipset.According to a preferred embodiment, power amplifier circuit is integrated in NANOLOC
tMwork in chipset, in order to provide stronger signal strength signal intensity.
Through the suitable distortion to RCU, the present invention also may be used for the position of following the trail of children, also goes for other animals.Such as, children can wear a wrist bracelet as RCU, instead of necklace.NANOLOC in similar aforesaid necklace is set in wrist bracelet
tMchipset.Wrist bracelet does not need to arrange correction function, but can continue to provide positional information to base station unit, comprise geofence signal, can be able to be the adult of suitable monitoring children for father and mother or other.Similarly, can arrange rope or necklace layout for other animal, by providing range information to base station, owner can search for the position of animal, and it is all applicable for whether arranging correction function.
Aforementioned explanation and accompanying drawing are only for illustration of principle of the present invention, and the present invention can configure in every way, and is not restricted to the scope of preferred embodiment.For technical staff, the present invention's display also has multiple application.Therefore, the present invention is not limited to disclosed concrete example, shown concrete structure and method of operating.On the contrary, all distortion suitably are all included in scope of the present invention with similar mode.
Claims (26)
1. a wireless barrier system, it, for one or many dogs being housed in the random zone of the circular that user specifies, comprising:
Base station unit, comprise transceiver unit, the central point of the random zone of the circular that the position of described base station unit specifies described user to specify, the fence radius of described user designated area is specified by user during Operation system setting, and the region outside described random zone is formed triggers area;
At least one necklace worn by dog, described necklace comprises the transceiver unit carrying out signal with described base station unit transceiver unit and communicate, described system configuration is use described transceiver unit to continue in real time to obtain the distance value between base station unit and necklace, and constantly calculates the current distance estimated value between dog and base station unit;
Described necklace comprises correction unit, when the current estimated value by system-computed shows that dog is positioned at triggering area, corrects unit and initiates to correct management to dog;
Described system configuration is for comprising conventional batteries save mode and aero mode, in aero mode, compared with in described battery saving mode, distance value between necklace and base station unit frequently is measured, described system configuration is, current distance estimated value between dog and base station unit and the difference between fence radius enter described aero mode when being less than threshold value, then remain in described battery saving mode when the current distance estimated value between dog and base station unit and the difference between fence radius are greater than described threshold value.
Described system is also configured to when calculating current estimated value, the distance value obtained constantly described in multiple is weighted and filtering, and distribute less weight to being considered to suspicious distance value, think that suspicious is due to the difference of described suspicious distance value with it between before measurement spacing distance values and the range estimation between the dog calculated before and base station unit.
2. wireless barrier system according to claim 1, wherein said base station unit comprises the first antenna for base station and the second antenna for base station, and described necklace comprises the first necklace antenna and the second necklace antenna.
3. wireless barrier system according to claim 2, wherein said system configuration is calculate described current estimated value like this, namely, by obtaining the first distance value between the first base station unit antenna and the first necklace antenna, second distance value between first base station unit antenna and the second necklace antenna, the 3rd distance value between second base station unit antenna and the first necklace antenna, and second the 4th distance value between base station unit antenna and the second necklace antenna, by more described first, second and third and fourth distance value determines the shortest distance value, and the shortest distance value described in then selecting as distance value for calculating the current distance estimated value between dog and base station unit.
4. wireless barrier system according to claim 1, wherein said base station unit and necklace transceiver comprise IEEE802.15.4a and to warble spread-spectrum radio module.
5. wireless barrier system according to claim 1, wherein said base station unit and necklace transceiver comprise power amplifier circuit, for providing larger signal strength signal intensity.
6. wireless barrier system according to claim 1, wherein said necklace comprises the motion sensor of the motion for detecting dog, and described necklace is configured to the dormancy when motion not detected in threshold time section.
7. wireless barrier system according to claim 1, wherein said system configuration is adopt to have delayed Kalman Filter Technology by the smoothing of continuous print distance value, thus the distance value of the mistake caused by system margins and/or decay is left in the basket, to avoid the undesirable correction management to dog.
8. wireless barrier system according to claim 7, wherein said Kalman Filter Technology comprises following algorithm, described algorithm based on the comparison current mensuration distance value and before range estimation assign weight to each mensuration distance value, if current mensuration distance value and the difference before between range estimation are greater than predetermined threshold value, described algorithm is that current mensuration distance value distributes less weight, and if current mensuration distance value and the difference before between range estimation are less than predetermined threshold value, described algorithm is that current mensuration distance value distributes larger weight, through the described distance value of such weighting for calculating the current distance estimated value of the renewal between dog and base station unit.
9. wireless barrier system according to claim 8, wherein said necklace comprises the accelerometer of the motion for detecting dog, described Kalman Filter Technology adopts the output of described accelerometer to be weighted current mensuration distance value further, if current mensuration distance value and the difference before between range estimation larger, and report comparatively high acceleration, distribute larger weight then to described current mensuration distance value, if current mensuration distance value and the difference before between range estimation larger, and report less or there is no acceleration, distribute less weight or ignored then to described current mensuration distance value.
10. wireless barrier system according to claim 1, comprises multiple flag further, during Operation system setting, user along or close to random zone fence radius place flag, described flag shows visually close to described triggering area.
11. wireless barrier systems according to claim 2, wherein said necklace is corrected unit and is comprised compartment, and described compartment comprises printed circuit board (PCB) (PCB) assembly, and described necklace transceiver is integrated in described PCB assembly.
12. wireless barrier systems according to claim 11, wherein said necklace also comprises the Article 1 tape member be connected with the side of described compartment, and the Article 2 tape member to be connected with the opposite side of described compartment, described tape member is configured to fix described necklace around dog neck, described first necklace antenna inserts the closed channel in described Article 1 tape member, and described second necklace antenna inserts the closed channel in described Article 2 tape member, the free end of described first and second necklace antennas stretches out from described tape member and brings in described compartment, and the terminals be couple on described PCB assembly.
13. wireless barrier systems according to claim 12, wherein said compartment comprises upper body and lower case, the free end of described PCB assembly and described tape member is brought in described lower case, and described upper body and described lower case seal, thus described necklace is waterproof.
14. 1 kinds in the method being configured to tracking range between the fixing base station unit of wireless barrier system and removable RCU, described system comprises the base station unit with transceiver unit, removable RCU with at least one has transceiver unit, said method comprising the steps of:
Base station unit is arranged on the position of specifying the central point being roughly the random zone that circular user specifies;
The radius in the region of specifying described user to specify, the region outside described radius forms the triggering area around random zone;
Activate described base station unit and described RCU, to make described base station unit and the two-way communication each other of described RCU;
Continue in real time to obtain the distance value between base station unit and RCU, constantly to calculate the current distance estimated value between RCU and base station unit; And
When calculating current estimated value, the distance value obtained constantly described in multiple is weighted and filtering, and distribute less weight to being considered to suspicious distance value, think that suspicious is due to the difference of described suspicious distance value with it between before measurement spacing distance values and the range estimation between the RCU calculated before and base station unit.
15. methods according to claim 14, wherein, described base station unit has the first base station unit antenna and the second base station unit antenna, and described RCU has the first RCU antenna and the second RCU antenna, and described method is further comprising the steps:
Obtain the first distance value between the first base station unit antenna and the first RCU antenna;
Obtain the second distance value between the first base station unit antenna and the second RCU antenna;
Obtain the 3rd distance value between the second base station unit antenna and the first RCU antenna;
Obtain the 4th distance value between the second base station unit antenna and the second RCU antenna;
More described first, second, third and fourth distance value is to determine the shortest distance value; And
Distance value the shortest described in choosing is as the distance value for calculating the current distance estimated value between RCU and base station unit.
16. methods according to claim 14, the step wherein continuing to obtain distance value between base station unit and RCU in real time comprises the following steps:
Difference between current distance estimated value between RCU and base station unit and radius and threshold value are compared;
When described difference is greater than described threshold value, operate in conventional batteries save mode; With
When described difference is less than described threshold value, operate in aero mode, and be in compared with described battery saving mode, in described aero mode, the distance value between base station unit and RCU frequently is measured.
17. methods according to claim 16, wherein in conventional batteries save mode, the approximately every 500ms of described distance value measures once, and approximately every 100ms measures once in aero mode.
18. methods according to claim 14, comprise employing further and have delayed Kalman Filter Technology by the step of continuous print distance value smoothing, thus the distance value of the mistake caused by system margins and/or decay are left in the basket.
19. methods according to claim 18, wherein comprise the following steps the operation of the described Kalman Filter Technology of continuous print distance value smoothingization:
Use algorithm based on the comparison current mensuration distance value and before range estimation assign weight to each mensuration distance value, if current mensuration distance value and the difference before between range estimation are greater than predetermined threshold value, described algorithm is that current mensuration distance value distributes less weight, and if current mensuration distance value and the difference before between distance estimations distance value are less than predetermined threshold value, described algorithm is that current mensuration distance value distributes larger weight; And
Use the described distance value through weighting to calculate the current distance estimated value of the renewal between RCU and base station unit.
20. methods according to claim 19, comprise further when the current estimated value by system-computed show RCU be positioned at trigger area time, base station unit place sound warning step.
21. methods according to claim 19, the operation of wherein said Kalman Filter Technology is further comprising the steps of:
Receive the output of the accelerometer on RCU;
If current mensuration distance value and the difference before between range estimation are comparatively large, and the larger acceleration of described accelerometer output report, then distribute the first weight to described current mensuration distance value; And
If current mensuration distance value and the difference before between range estimation are comparatively large, and described accelerometer output report less or there is no acceleration, then distribute less weight to described current mensuration distance value.
22. methods according to claim 14, comprise the step arranging multiple flag further, during Operation system setting, user along or close to random zone radius place flag, described flag shows visually close to described triggering area.
23. methods according to claim 14, wherein said system is the wireless fence product for or many dogs being housed in the random zone of the circular that user specifies, described RCU comprises the necklace worn by dog, described necklace comprises necklace and corrects unit, described method comprises further when the current estimated value by system-computed shows that dog is positioned at triggering area, and the step that unit initiates to manage the correction of dog corrected by described necklace.
24. methods according to claim 23, further comprising the steps:
By the range estimation between necklace and base station unit and half through comparing;
If range estimation is less than described radius, do not take any action; And
If range estimation is greater than described radius, then initiate correct sequence.
25. methods according to claim 24, wherein, described correct sequence comprises the following steps:
Described base station unit sends to described necklace and corrects order;
In response to described order dog being sent to correction, described necklace activates;
Correction is lasted till and arrives time-out time section, or until range estimation is less than radius threshold distance, be as the criterion with first implementor.
26. methods according to claim 25, comprise activation second necklace further, to make the step of described base station unit and described second necklace two-way communication each other, meanwhile, and also two-way communication each other between described base station unit and the necklace of initial activation.
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| US12/926,668 US8297233B2 (en) | 2010-03-23 | 2010-12-02 | Radial-shape wireless dog fence system and method |
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| CN102318563B true CN102318563B (en) | 2015-01-14 |
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| CN (1) | CN102318563B (en) |
| CA (1) | CA2734583C (en) |
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| CA2734583A1 (en) | 2011-09-23 |
| CN102318563A (en) | 2012-01-18 |
| WO2011119692A1 (en) | 2011-09-29 |
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| CA2734583C (en) | 2018-04-10 |
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Effective date of registration: 20171025 Address after: American Tennessee Patentee after: Radio Systems Corporation Address before: American Pennsylvania Patentee before: Woodstream Corp. |